/******************************************************************************
 * Copyright 2020 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
#pragma once

#include <vector>

#include "torch/script.h"
#include "torch/torch.h"

namespace apollo {
namespace perception {
namespace inference {

class LibtorchObstacleDetection {
 public:
  LibtorchObstacleDetection();

  ~LibtorchObstacleDetection() = default;

  bool Evaluate(
    const std::vector<std::vector<std::vector<double>>>& imageFrame);

 private:
  void LoadModel();

 private:
  torch::jit::script::Module torch_model_;
  torch::Device device_;
};

}  // namespace inference
}  // namespace perception
}  // namespace apollo
